subject:(Collision avoidance)

AUT University

1. Alnashi, Liwaa. Airborne sense and alert collision warning and avoidance system .

Degree: 2012, AUT University

► The emergence of unmanned aerial vehicles and the ever increasing performance in terms of speed, flight altitude, and endurance have led the debate into allowing… (more)

▼ The emergence of unmanned aerial vehicles and the ever increasing performance in terms of speed, flight altitude, and endurance have led the debate into allowing such aircraft to fly co-jointly with civilian aircraft. However, due to the absence of the usual flight regulation channel, not to mention the pilot at the aircraft controls, the need for an automated collision avoidance system has arisen in the past few years. For that we propose to provide a practical solution to equip UAVs with an autonomous sense and avoid capability and an autonomous collision avoidance system, to enable the UAV to fly in a non segregated air space safely and meeting the above regulations. In this research, we have evaluated different types of mechanism to form this collision avoidance system. The most successful of which concluded of path estimation and the calculation of nearest point of approach. During this research, we developed a collision avoidance mechanism that uses vector algorithms and path estimation methods to increase the efficiency of the logic system and decrease the computation time. In the results of this experiment, we determined that using few well developed manoeuvres would result in better avoidance efficiency and would require limited change to the flight path of the unmanned vehicle and flight parameters. Manoeuvres such as changing speed or turning provided the best options for avoiding incoming aircraft, while changing altitude was less successful due to the danger of flying into a different flight level (sharing the same altitude levels with other aircraft) and due to the limited climb and decent rate performances of the model unmanned aerial vehicle used. More complicated scenarios, such as avoiding multiple aircraft would require a slightly different strategy, where the algorithm would be based upon avoiding a flight path of all aircraft at all times, rather than changing velocity or heading to avoid colliding at a certain point in time. The main outcome of this experiment, was to prove that such algorithms (with limited complex theory behind it) can prove to be a good option for deriving avoidance systems and ensuring flight safety for manned and unmanned aircraft. Testing was successfully conducted by the student on simple implementation of the Loss of Separation algorithm to verify, test and expand the algorithm as a pre-preparation for code integration in later stages. In this document, we present how we will implement the “sense and avoid” algorithm and the logical decision making system that would provide the UAV with the ability to re-route its current path to a safer flight course. Advisors/Committee Members: Collins, John (advisor).

Subjects/Keywords: UAV, Collision Avoidance; Collision warning

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APA (6^th Edition):

Alnashi, L. (2012). Airborne sense and alert collision warning and avoidance system . (Thesis). AUT University. Retrieved from http://hdl.handle.net/10292/4713

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Alnashi, Liwaa. “Airborne sense and alert collision warning and avoidance system .” 2012. Thesis, AUT University. Accessed April 17, 2021. http://hdl.handle.net/10292/4713.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Alnashi, Liwaa. “Airborne sense and alert collision warning and avoidance system .” 2012. Web. 17 Apr 2021.

Vancouver:

Alnashi L. Airborne sense and alert collision warning and avoidance system . [Internet] [Thesis]. AUT University; 2012. [cited 2021 Apr 17]. Available from: http://hdl.handle.net/10292/4713.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Alnashi L. Airborne sense and alert collision warning and avoidance system . [Thesis]. AUT University; 2012. Available from: http://hdl.handle.net/10292/4713

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

NSYSU

2. Wang, Chih-wei. A unified approach toward crowd simulation.

Degree: Master, Computer Science and Engineering, 2008, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0727108-221452

► There are various kinds of creature living in the world and each kind of creatures has its own unique life habits and behavior patterns. For… (more)

Subjects/Keywords: crowds; collision avoidance; path planning

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APA (6^th Edition):

Wang, C. (2008). A unified approach toward crowd simulation. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0727108-221452

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Wang, Chih-wei. “A unified approach toward crowd simulation.” 2008. Thesis, NSYSU. Accessed April 17, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0727108-221452.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Wang, Chih-wei. “A unified approach toward crowd simulation.” 2008. Web. 17 Apr 2021.

Vancouver:

Wang C. A unified approach toward crowd simulation. [Internet] [Thesis]. NSYSU; 2008. [cited 2021 Apr 17]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0727108-221452.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Wang C. A unified approach toward crowd simulation. [Thesis]. NSYSU; 2008. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0727108-221452

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

3. Zhu, J. (author). Real-time Collision Avoidance for Robot Manipulators by Braking Trajectory Prediction.

Degree: 2015, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:588b8c37-3a21-4a4c-b9e0-11298f5dc197

►

The thesis contributes to the pre-collision strategies of robot manipulators by proposing a real-time implementable collision avoidance scheme. The collision is avoided by a braking… (more)

Subjects/Keywords: Collision avoidance; Robot manipulator; Prediction

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APA (6^th Edition):

Zhu, J. (. (2015). Real-time Collision Avoidance for Robot Manipulators by Braking Trajectory Prediction. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:588b8c37-3a21-4a4c-b9e0-11298f5dc197

Chicago Manual of Style (16^th Edition):

Zhu, J (author). “Real-time Collision Avoidance for Robot Manipulators by Braking Trajectory Prediction.” 2015. Masters Thesis, Delft University of Technology. Accessed April 17, 2021. http://resolver.tudelft.nl/uuid:588b8c37-3a21-4a4c-b9e0-11298f5dc197.

MLA Handbook (7^th Edition):

Zhu, J (author). “Real-time Collision Avoidance for Robot Manipulators by Braking Trajectory Prediction.” 2015. Web. 17 Apr 2021.

Vancouver:

Zhu J(. Real-time Collision Avoidance for Robot Manipulators by Braking Trajectory Prediction. [Internet] [Masters thesis]. Delft University of Technology; 2015. [cited 2021 Apr 17]. Available from: http://resolver.tudelft.nl/uuid:588b8c37-3a21-4a4c-b9e0-11298f5dc197.

Council of Science Editors:

Zhu J(. Real-time Collision Avoidance for Robot Manipulators by Braking Trajectory Prediction. [Masters Thesis]. Delft University of Technology; 2015. Available from: http://resolver.tudelft.nl/uuid:588b8c37-3a21-4a4c-b9e0-11298f5dc197

Penn State University

4. Robinson, Michael David. An Investigation of Fatality-Reducing Pedestrian Avoidance Algorithms for Autonomous Vehicles.

Degree: 2016, Penn State University

URL: https://submit-etda.libraries.psu.edu/catalog/12180mdr5254

► As we approach the day when autonomous vehicles become commercially viable, questions about safety become more important than questions about feasibility. Historically, the literature on… (more)

Subjects/Keywords: Collision avoidance; pedestrian avoidance; vehicle modeling; Collision avoidance; pedestrian avoidance; vehicle modeling

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APA (6^th Edition):

Robinson, M. D. (2016). An Investigation of Fatality-Reducing Pedestrian Avoidance Algorithms for Autonomous Vehicles. (Thesis). Penn State University. Retrieved from https://submit-etda.libraries.psu.edu/catalog/12180mdr5254

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Robinson, Michael David. “An Investigation of Fatality-Reducing Pedestrian Avoidance Algorithms for Autonomous Vehicles.” 2016. Thesis, Penn State University. Accessed April 17, 2021. https://submit-etda.libraries.psu.edu/catalog/12180mdr5254.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Robinson, Michael David. “An Investigation of Fatality-Reducing Pedestrian Avoidance Algorithms for Autonomous Vehicles.” 2016. Web. 17 Apr 2021.

Vancouver:

Robinson MD. An Investigation of Fatality-Reducing Pedestrian Avoidance Algorithms for Autonomous Vehicles. [Internet] [Thesis]. Penn State University; 2016. [cited 2021 Apr 17]. Available from: https://submit-etda.libraries.psu.edu/catalog/12180mdr5254.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Robinson MD. An Investigation of Fatality-Reducing Pedestrian Avoidance Algorithms for Autonomous Vehicles. [Thesis]. Penn State University; 2016. Available from: https://submit-etda.libraries.psu.edu/catalog/12180mdr5254

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

5. Wolfhagen, Jasper (author). Collision avoidance in the new space era.

Degree: 2020, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:9aac7fdf-3d2d-4b66-8597-19e49f9dc1af

► The next decade will see an unprecedented growth in space activity and usher in a new era in space. Together commercial parties, the so-called NewSpace… (more)

▼ The next decade will see an unprecedented growth in space activity and usher in a new era in space. Together commercial parties, the so-called NewSpace operators, have announced large constellations that will increase the number of satellites in Low Earth Orbit from almost 2,000 satellites to 20,000. Simultaneously, enhanced space object tracking capabilities are expected to increase the number of tracked objects from 23,000 to 100,000. These developments will lead to a strong increase in dangerous conjunction events and the required number of collision avoidance maneuvers as well as more complex conjunction geometries for satellites in Low Earth Orbit. This research proposes a new approach to collision avoidance maneuver planning that produces a set of maneuvers to reduce the collision probability to an acceptable level for complex conjunction geometries without requiring human interpretation beforehand. The approach combines an accurate numerical propagation procedure to take advantage of the small position uncertainties of the Conjunction Data Messages published by the Combined Space Operations Center with a multi-objective optimisation procedure to avoid having to assign relative importance to optimisation objectives beforehand. The approach is tested against four different conjunction scenarios ranging from two objects to involving four objects proving that it efficiently finds solutions for future complex conjunction geometries. It is shown that the new approach finds the global optima in the objective space spawned by collision probability. Applying an intrack maneuver is the most propellant-efficient method for reducing collision probability. In contrast to most contemporary research, this research finds that additional radial and crosstrack maneuver components can offer a significant decrease in collision probability. The quality of the product of many NewSpace operators depends on the service level that is offered: the maximum interval between two satellite visits. Intrack maneuvers significantly change the orbital period and negatively impact the service level. This research investigates extending the problem definition by introducing constellation performance loss as a third optimisation objective. Extending the objective space by an additional dimension increases the required computational effort, but provides an interesting new perspective on the true optimality of maneuvers. The approach uncovers the three-dimensional Pareto front at the expense of 7,875 function evaluations showing both a set of solutions that are propellant-efficient, which were mentioned earlier, as well as a set of solutions that inflict little constellation performance loss. The latter set of solutions has a large radial or crosstrack component and almost no intrack component. It affirms the finding that large radial and crosstrack maneuver components can offer promising solutions for collision avoidance maneuvers. As an alternative for reducing constellation performance loss, this work investigated the application of a second… Advisors/Committee Members: Noomen, R. (mentor), Schrama, E.J.O. (graduation committee), Guo, J. (graduation committee), Hertz, Jens (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: Collision avoidance maneuver; NewSpace; Satellite collisions; Active collision avoidance

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APA (6^th Edition):

Wolfhagen, J. (. (2020). Collision avoidance in the new space era. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:9aac7fdf-3d2d-4b66-8597-19e49f9dc1af

Chicago Manual of Style (16^th Edition):

Wolfhagen, Jasper (author). “Collision avoidance in the new space era.” 2020. Masters Thesis, Delft University of Technology. Accessed April 17, 2021. http://resolver.tudelft.nl/uuid:9aac7fdf-3d2d-4b66-8597-19e49f9dc1af.

MLA Handbook (7^th Edition):

Wolfhagen, Jasper (author). “Collision avoidance in the new space era.” 2020. Web. 17 Apr 2021.

Vancouver:

Wolfhagen J(. Collision avoidance in the new space era. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Apr 17]. Available from: http://resolver.tudelft.nl/uuid:9aac7fdf-3d2d-4b66-8597-19e49f9dc1af.

Council of Science Editors:

Wolfhagen J(. Collision avoidance in the new space era. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:9aac7fdf-3d2d-4b66-8597-19e49f9dc1af

Universiteit Utrecht

6. Goethem, A.I. van. A Stream algorithm for crowd simulation to improve crowd coordination at all densities.

Degree: 2012, Universiteit Utrecht

URL: http://dspace.library.uu.nl:8080/handle/1874/255387

► Crowd simulation is becoming an essential part of computer sciences. In the last decades the research field has taken a flight. Current state-of-the-art micro simulation… (more)

▼ Crowd simulation is becoming an essential part of computer sciences. In the last decades the research field has taken a flight. Current state-of-the-art micro simulation algorithms for crowd simulation are able to deliver very convincing results. Recently, vision-based algorithms have been developed that are based on the field of vision of individual agents. These algorithms allow agents to interact realistically at low to medium densities, but have trouble coordinating movement at high density. A concurrent development are flow algorithms. These algorithms are able to solve high density scenarios due to an inherent high level of coordination, but lack individuality of agents. Up till now, however, no algorithm exists that can handle both low densities as well as extremely high densities realistically. In this thesis we will define an algorithm that can handle the entire density spectrum. Agents are individual entities with personal goals and settings. The algorithm will incorporate the implicit, local coordination present in real-life crowds. We will show that coordination is essential in high density areas. Information is implicitly stored in a crowd's movement. We introduce the concept of streams to extract this information. The implicit global coordination of streams improves crowd flow and supports lane formation in extreme densities. We will implement this theory to achieve an algorithm that can handle all different densities. To allow for both individual as well as coordinated behaviour we will introduce the concept of incentive. An agent's incentive determines if it will display more individualistic behaviour or be group-oriented. This allows agents to display individualistic behaviour as long as possible, while still cooperating if necessary. Experiments show that the streams algorithm together with our incentive-based interpolation scheme are a valuable addition to current micro collision-avoidance algorithms. Our algorithm is able to handle higher densities correctly, whilst maintaining behaviour at low densities. The inherent coordination at high densities is missing in all current algorithms. Even at lower densities the streams algorithm contributes to quicker and clearer lane formation. Our algorithm is able to function properly at all densities. Advisors/Committee Members: Geraerts, R..

Subjects/Keywords: Crowd simulation; coordination; collision avoidance; streams

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APA (6^th Edition):

Goethem, A. I. v. (2012). A Stream algorithm for crowd simulation to improve crowd coordination at all densities. (Masters Thesis). Universiteit Utrecht. Retrieved from http://dspace.library.uu.nl:8080/handle/1874/255387

Chicago Manual of Style (16^th Edition):

Goethem, A I van. “A Stream algorithm for crowd simulation to improve crowd coordination at all densities.” 2012. Masters Thesis, Universiteit Utrecht. Accessed April 17, 2021. http://dspace.library.uu.nl:8080/handle/1874/255387.

MLA Handbook (7^th Edition):

Goethem, A I van. “A Stream algorithm for crowd simulation to improve crowd coordination at all densities.” 2012. Web. 17 Apr 2021.

Vancouver:

Goethem AIv. A Stream algorithm for crowd simulation to improve crowd coordination at all densities. [Internet] [Masters thesis]. Universiteit Utrecht; 2012. [cited 2021 Apr 17]. Available from: http://dspace.library.uu.nl:8080/handle/1874/255387.

Council of Science Editors:

Goethem AIv. A Stream algorithm for crowd simulation to improve crowd coordination at all densities. [Masters Thesis]. Universiteit Utrecht; 2012. Available from: http://dspace.library.uu.nl:8080/handle/1874/255387

Rochester Institute of Technology

7. Angadi, Priyanka. Increased Persistence of Wi-Fi Direct Networks for Smartphone-based Collision Avoidance.

Degree: MS, Computer Engineering, 2014, Rochester Institute of Technology

URL: https://scholarworks.rit.edu/theses/8505

► Inter-vehicular communication is a promising technology to improve road safety. Inter-vehicular communication over a wireless medium can be used to exchange important information such… (more)

▼ Inter-vehicular communication is a promising technology to improve road safety. Inter-vehicular communication over a wireless medium can be used to exchange important information such as the speed, location, and headings of a vehicle with nearby vehicles. Using this information, it is possible to calculate if a collision is imminent and warn the driver to take action. Wi-Fi can also be used to share this information, however it requires an access point hardware to facilitate communication. Wi-Fi Direct enabled devices can share information without a hardware access point. Wi-Fi Direct provides peer to peer communication by employing a software defined access point embedded within the system. Wi-Fi Direct is a technology that is present on many smart phones, eliminating the need for dedicated access point hardware. In collision avoidance application, Wi-Fi Direct maybe used to exchange safety-related information between vehicles. Collision avoidance systems developed using smartphones can also be extended to protecting pedestrians carrying a smartphone and in this role they could be a long-term solution for certain vulnerable road user collision scenarios. Smartphones with Wi-Fi Direct capability could provide a path to early, low-cost implementation of inter-vehicle communication for collision avoidance. However, there are many limitations to such a system that are addressed in this thesis. Wi-Fi Direct functions by creating groups. One of the nodes in the group is elected as the group owner that acts as an access point and manages the communication between the nodes within the group. If the group owner moves out of range, reforming the group is a lengthy process. This thesis proposes a new method for nomination of the group owner to reduce the likelihood that the group owner will move out of range. This thesis introduces the concept of nominating a Backup Group Owner that can quickly replace the group owner if the group owner shuts down or moves out of range of the group. An orderly handoff from the group owner to the Backup Group Owner can prevent loss of communication among nodes. An analytical study of the amount of time saved by adopting the proposed method of electing the BGO is presented. Advisors/Committee Members: Clark Hochgraf.

Subjects/Keywords: Collision avoidance; Smartphone-based; Wi-Fi direct

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APA (6^th Edition):

Angadi, P. (2014). Increased Persistence of Wi-Fi Direct Networks for Smartphone-based Collision Avoidance. (Masters Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/8505

Chicago Manual of Style (16^th Edition):

Angadi, Priyanka. “Increased Persistence of Wi-Fi Direct Networks for Smartphone-based Collision Avoidance.” 2014. Masters Thesis, Rochester Institute of Technology. Accessed April 17, 2021. https://scholarworks.rit.edu/theses/8505.

MLA Handbook (7^th Edition):

Angadi, Priyanka. “Increased Persistence of Wi-Fi Direct Networks for Smartphone-based Collision Avoidance.” 2014. Web. 17 Apr 2021.

Vancouver:

Angadi P. Increased Persistence of Wi-Fi Direct Networks for Smartphone-based Collision Avoidance. [Internet] [Masters thesis]. Rochester Institute of Technology; 2014. [cited 2021 Apr 17]. Available from: https://scholarworks.rit.edu/theses/8505.

Council of Science Editors:

Angadi P. Increased Persistence of Wi-Fi Direct Networks for Smartphone-based Collision Avoidance. [Masters Thesis]. Rochester Institute of Technology; 2014. Available from: https://scholarworks.rit.edu/theses/8505

Cornell University

8. Hardy, Jason. Contingency Planning And Obstacle Anticipation For Autonomous Driving.

Degree: PhD, Aerospace Engineering, 2013, Cornell University

URL: http://hdl.handle.net/1813/34277

► This thesis explores the challenge of robustly handling dynamic obstacle uncertainty in autonomous driving systems. The path planning performance of Cornell's autonomous vehicle platform Skynet… (more)

Subjects/Keywords: Contingency Planning; Collision Avoidance; Autonomous Driving

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APA (6^th Edition):

Hardy, J. (2013). Contingency Planning And Obstacle Anticipation For Autonomous Driving. (Doctoral Dissertation). Cornell University. Retrieved from http://hdl.handle.net/1813/34277

Chicago Manual of Style (16^th Edition):

Hardy, Jason. “Contingency Planning And Obstacle Anticipation For Autonomous Driving.” 2013. Doctoral Dissertation, Cornell University. Accessed April 17, 2021. http://hdl.handle.net/1813/34277.

MLA Handbook (7^th Edition):

Hardy, Jason. “Contingency Planning And Obstacle Anticipation For Autonomous Driving.” 2013. Web. 17 Apr 2021.

Vancouver:

Hardy J. Contingency Planning And Obstacle Anticipation For Autonomous Driving. [Internet] [Doctoral dissertation]. Cornell University; 2013. [cited 2021 Apr 17]. Available from: http://hdl.handle.net/1813/34277.

Council of Science Editors:

Hardy J. Contingency Planning And Obstacle Anticipation For Autonomous Driving. [Doctoral Dissertation]. Cornell University; 2013. Available from: http://hdl.handle.net/1813/34277

University of Saskatchewan

9. Benaragama, Indika. Collision avoidance behaviour in a pair of flying locusts (Locusta migratoria L.).

Degree: 2011, University of Saskatchewan

URL: http://hdl.handle.net/10388/ETD-2011-12-272

► Migratory locusts; Locusta migratoria L. flying in a swarm would encounter spatiotemporally complex visual cues such as translating, receding and looming stimuli, produced by self-motion… (more)

Subjects/Keywords: Locust; behaviour; collision avoidance response; conspecific

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APA (6^th Edition):

Benaragama, I. (2011). Collision avoidance behaviour in a pair of flying locusts (Locusta migratoria L.). (Thesis). University of Saskatchewan. Retrieved from http://hdl.handle.net/10388/ETD-2011-12-272

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Benaragama, Indika. “Collision avoidance behaviour in a pair of flying locusts (Locusta migratoria L.).” 2011. Thesis, University of Saskatchewan. Accessed April 17, 2021. http://hdl.handle.net/10388/ETD-2011-12-272.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Benaragama, Indika. “Collision avoidance behaviour in a pair of flying locusts (Locusta migratoria L.).” 2011. Web. 17 Apr 2021.

Vancouver:

Benaragama I. Collision avoidance behaviour in a pair of flying locusts (Locusta migratoria L.). [Internet] [Thesis]. University of Saskatchewan; 2011. [cited 2021 Apr 17]. Available from: http://hdl.handle.net/10388/ETD-2011-12-272.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Benaragama I. Collision avoidance behaviour in a pair of flying locusts (Locusta migratoria L.). [Thesis]. University of Saskatchewan; 2011. Available from: http://hdl.handle.net/10388/ETD-2011-12-272

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Linköping University

10. Ortman, Victor. Development of a Collision Avoidance Truck System from a Functional Safety Perspective.

Degree: Electrical Engineering, 2011, Linköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71854

► ISO 26262 is a functional safety standard under development at the time of this thesis. It is an adaptation of the functional safety standard… (more)

Subjects/Keywords: ISO-26262; functional safety; collision avoidance

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APA (6^th Edition):

Ortman, V. (2011). Development of a Collision Avoidance Truck System from a Functional Safety Perspective. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71854

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ortman, Victor. “Development of a Collision Avoidance Truck System from a Functional Safety Perspective.” 2011. Thesis, Linköping University. Accessed April 17, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71854.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ortman, Victor. “Development of a Collision Avoidance Truck System from a Functional Safety Perspective.” 2011. Web. 17 Apr 2021.

Vancouver:

Ortman V. Development of a Collision Avoidance Truck System from a Functional Safety Perspective. [Internet] [Thesis]. Linköping University; 2011. [cited 2021 Apr 17]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71854.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ortman V. Development of a Collision Avoidance Truck System from a Functional Safety Perspective. [Thesis]. Linköping University; 2011. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-71854

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

11. Johnson, Jeffrey Kane. Selective Determinism for Autonomous Navigation in Multi-Agent Systems .

Degree: 2017, Indiana University

URL: http://hdl.handle.net/2022/21670

► Standard approaches to multi-agent navigation problems formulate them as searches for policies that are optimal mappings from belief states to actions. However, computing such policies… (more)

Subjects/Keywords: collision avoidance; autonomous navigation; multi-agent system

11 more images…

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APA (6^th Edition):

Johnson, J. K. (2017). Selective Determinism for Autonomous Navigation in Multi-Agent Systems . (Thesis). Indiana University. Retrieved from http://hdl.handle.net/2022/21670

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Johnson, Jeffrey Kane. “Selective Determinism for Autonomous Navigation in Multi-Agent Systems .” 2017. Thesis, Indiana University. Accessed April 17, 2021. http://hdl.handle.net/2022/21670.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Johnson, Jeffrey Kane. “Selective Determinism for Autonomous Navigation in Multi-Agent Systems .” 2017. Web. 17 Apr 2021.

Vancouver:

Johnson JK. Selective Determinism for Autonomous Navigation in Multi-Agent Systems . [Internet] [Thesis]. Indiana University; 2017. [cited 2021 Apr 17]. Available from: http://hdl.handle.net/2022/21670.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Johnson JK. Selective Determinism for Autonomous Navigation in Multi-Agent Systems . [Thesis]. Indiana University; 2017. Available from: http://hdl.handle.net/2022/21670

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

12. van Wijk, Daan (author). Network-Decentralized Control with Collision Avoidance for Multi-Agent Systems.

Degree: 2018, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:b9bb93e5-93c9-40be-b603-7782736b037e

►

An often preferred method to control a multi-agent system is by a network-decentralised controller. Network-decentralised means that each agent only has knowledge about its own… (more)

Subjects/Keywords: Collision Avoidance; Decentralized Control; Multi-Agent System

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

van Wijk, D. (. (2018). Network-Decentralized Control with Collision Avoidance for Multi-Agent Systems. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:b9bb93e5-93c9-40be-b603-7782736b037e

Chicago Manual of Style (16^th Edition):

van Wijk, Daan (author). “Network-Decentralized Control with Collision Avoidance for Multi-Agent Systems.” 2018. Masters Thesis, Delft University of Technology. Accessed April 17, 2021. http://resolver.tudelft.nl/uuid:b9bb93e5-93c9-40be-b603-7782736b037e.

MLA Handbook (7^th Edition):

van Wijk, Daan (author). “Network-Decentralized Control with Collision Avoidance for Multi-Agent Systems.” 2018. Web. 17 Apr 2021.

Vancouver:

van Wijk D(. Network-Decentralized Control with Collision Avoidance for Multi-Agent Systems. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Apr 17]. Available from: http://resolver.tudelft.nl/uuid:b9bb93e5-93c9-40be-b603-7782736b037e.

Council of Science Editors:

van Wijk D(. Network-Decentralized Control with Collision Avoidance for Multi-Agent Systems. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:b9bb93e5-93c9-40be-b603-7782736b037e

Delft University of Technology

13. Li, Xiajing (author). Decentralized Collision Avoidance of Multi-Agent Systems in 3-Dimensional Space.

Degree: 2019, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:acdbeb2e-b442-4d26-abef-b81f0a90fd7e

►

Multi-Agent Systems, often referred to a network of loosely connected autonomous units, are widely used to model the dynamics of crowds, vehicles, robots and swarms… (more)

Subjects/Keywords: Collision Avoidance; Multi-Agent System; Decentralized Control

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Li, X. (. (2019). Decentralized Collision Avoidance of Multi-Agent Systems in 3-Dimensional Space. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:acdbeb2e-b442-4d26-abef-b81f0a90fd7e

Chicago Manual of Style (16^th Edition):

Li, Xiajing (author). “Decentralized Collision Avoidance of Multi-Agent Systems in 3-Dimensional Space.” 2019. Masters Thesis, Delft University of Technology. Accessed April 17, 2021. http://resolver.tudelft.nl/uuid:acdbeb2e-b442-4d26-abef-b81f0a90fd7e.

MLA Handbook (7^th Edition):

Li, Xiajing (author). “Decentralized Collision Avoidance of Multi-Agent Systems in 3-Dimensional Space.” 2019. Web. 17 Apr 2021.

Vancouver:

Li X(. Decentralized Collision Avoidance of Multi-Agent Systems in 3-Dimensional Space. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Apr 17]. Available from: http://resolver.tudelft.nl/uuid:acdbeb2e-b442-4d26-abef-b81f0a90fd7e.

Council of Science Editors:

Li X(. Decentralized Collision Avoidance of Multi-Agent Systems in 3-Dimensional Space. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:acdbeb2e-b442-4d26-abef-b81f0a90fd7e

University of Kansas

14. Shi, Lei. Multichannel Sense and Avoid Radar for Small UAVs.

Degree: PhD, Electrical Engineering & Computer Science, 2016, University of Kansas

URL: http://hdl.handle.net/1808/25766

► This dissertation investigates the feasibility of creating a multichannel sense and avoid radar system for small fixed-wing UAVs (also known as sUAS or drones). The… (more)

▼ This dissertation investigates the feasibility of creating a multichannel sense and avoid radar system for small fixed-wing UAVs (also known as sUAS or drones). The target sUAS is a 40% Yak-54 remote controlled aircraft with a typical payload of 10 lbs. Small UAS’s such as these are increasing in popularity for both personal, commercial, and government use including precision agriculture, infrastructure monitoring, and assisting first response. However, due to their lack of situation awareness, the FAA has placed strict regulations on their operation limiting their use on both the civil and government sides across the U.S. This miniature radar system is intended to provide these sUAS with target detection, tracking, and 3-D location and velocity information on potential non-cooperative hazards, primarily focusing on general aviation (GA) aircraft. The resulting FMCW miniature radar system has a size weight and power (SWaP) that is suitable for installing onboard the 40% Yak-54 UAS with the exception of replacing a TX power amplifier and has demonstrated, through measuring moving cars, that it is capable of target detection using a 2-D FFT processing algorithm and a constant false alarm rate (CFAR) detector. Tracking of the target was performed using the range-Doppler relationship of targets in the resulting radar image. The target’s angular information in the form of target echo angle of arrival (AoA, needed for location estimation) was estimated using interferometry. While the angular estimations were in the right direction, their uncertainties resulting in significant fluctuations in estimated target XYZ position and XYZ velocities. It was observed that in the near term, averaging the AoA (which changes relatively slowly for steady flight) is a way to reduce this uncertainly. In the future, the radar system needs to be upgraded so that it can provide the ideal 10-Hz update rate which will also provide sufficient data for more complex target AoA detection algorithms. Advisors/Committee Members: Allen, Christopher (advisor), Stiles, James (cmtemember), Prescott, Glenn (cmtemember), Yun, Heechul (cmtemember), Friis, Lisa (cmtemember).

Subjects/Keywords: Electrical engineering; collision avoidance; Radar; UAS

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Shi, L. (2016). Multichannel Sense and Avoid Radar for Small UAVs. (Doctoral Dissertation). University of Kansas. Retrieved from http://hdl.handle.net/1808/25766

Chicago Manual of Style (16^th Edition):

Shi, Lei. “Multichannel Sense and Avoid Radar for Small UAVs.” 2016. Doctoral Dissertation, University of Kansas. Accessed April 17, 2021. http://hdl.handle.net/1808/25766.

MLA Handbook (7^th Edition):

Shi, Lei. “Multichannel Sense and Avoid Radar for Small UAVs.” 2016. Web. 17 Apr 2021.

Vancouver:

Shi L. Multichannel Sense and Avoid Radar for Small UAVs. [Internet] [Doctoral dissertation]. University of Kansas; 2016. [cited 2021 Apr 17]. Available from: http://hdl.handle.net/1808/25766.

Council of Science Editors:

Shi L. Multichannel Sense and Avoid Radar for Small UAVs. [Doctoral Dissertation]. University of Kansas; 2016. Available from: http://hdl.handle.net/1808/25766

Virginia Tech

15. Gorman, Thomas Ian. Prospects for the Collision-Free Car: The Effectiveness of Five Competing Forward Collision Avoidance Systems.

Degree: MS, Mechanical Engineering, 2013, Virginia Tech

URL: http://hdl.handle.net/10919/24721

► Rear-end collisions in which the leading vehicle was stationary prior to impact and at least one vehicle was towed from the crash site represent 18%… (more)

▼ Rear-end collisions in which the leading vehicle was stationary prior to impact and at least one vehicle was towed from the crash site represent 18% of all yearly crashes in the United States. Forward Collision Avoidance Systems (FCASs) are becoming increasingly available in production vehicles and have a great potential for preventing or mitigating rear-end collisions. The objective of this study was to compare the effectiveness of five crash avoidance algorithms that are similar in design to systems found on production vehicles of model year 2011. To predict the effectiveness of each algorithm, this study simulated a representative sample of rear-end collisions as if the striking vehicle was equipped with each FCAS. In 2011, the ADAC (Allgemeiner Deutscher Automobil-Club e.V) published a test report comparing advanced emergency braking systems. The ADAC tested production vehicles of model year 2011 made by Audi, BMW, Infiniti, Volvo, and VW. The ADAC test results were used in conjunction with video evidence and owner's manual information to develop mathematical models of five different FCASs. The systems had combinations of Forward Collision Warning (FCW), Assisted Braking (AB), and Autonomous Emergency Braking (AEB). The effectiveness of each modeled system was measured by its ability to prevent collisions or reduce the collision severity of reconstructed crashes. In this study, 977 rear-end crashes that occurred from 1993 to 2008 were mathematically reconstructed. These crashes were investigated as part of NHTSA's National Automotive Sampling System, Crashworthiness Data System (NASS/CDS). These crashes represent almost 800,000 crashes during that time period in which the struck vehicle was stationary. Part of the NASS/CDS investigation was to reconstruct the vehicle change in velocity during impact, ∆V. Using energy and Newtonian based methods, the ∆V in each crash was calculated as if the vehicle was equipped with each modeled FCAS. Using the predicted reduction in crash ∆V, the expected reduction in the number of moderately-to-fatally injured (MAIS2+) drivers was predicted. This study estimates that the most effective FCAS model was the Volvo algorithm which could potentially prevent between 79% and 92% of the crashes simulated in this study and between 76% and 94% of associated driver injuries. This study estimates that the BMW algorithm would prevent the fewest number of crashes (between 11% and 14%), but would provide admirable benefits to driver safety by preventing between 21% and 25% of driver injuries. The VW algorithm would be the least effective at preventing driver injuries if the system were to be implemented across the U.S. fleet. This algorithm offers a 19% reduction in crashes, but only prevents 15% of driver injuries. This study introduces and demonstrates a unique method of comparing potential benefits of competing FCAS algorithms. This method could be particularly useful to system designers for comparing the expected effects of design decisions on safety performance. … Advisors/Committee Members: Gabler, Hampton Clay (committeechair), Doerzaph, Zachary R. (committee member), Duma, Stefan M. (committee member).

Subjects/Keywords: Collision Avoidance System; Mathematical Simulation; Benefits Estimation

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Gorman, T. I. (2013). Prospects for the Collision-Free Car: The Effectiveness of Five Competing Forward Collision Avoidance Systems. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/24721

Chicago Manual of Style (16^th Edition):

Gorman, Thomas Ian. “Prospects for the Collision-Free Car: The Effectiveness of Five Competing Forward Collision Avoidance Systems.” 2013. Masters Thesis, Virginia Tech. Accessed April 17, 2021. http://hdl.handle.net/10919/24721.

MLA Handbook (7^th Edition):

Gorman, Thomas Ian. “Prospects for the Collision-Free Car: The Effectiveness of Five Competing Forward Collision Avoidance Systems.” 2013. Web. 17 Apr 2021.

Vancouver:

Gorman TI. Prospects for the Collision-Free Car: The Effectiveness of Five Competing Forward Collision Avoidance Systems. [Internet] [Masters thesis]. Virginia Tech; 2013. [cited 2021 Apr 17]. Available from: http://hdl.handle.net/10919/24721.

Council of Science Editors:

Gorman TI. Prospects for the Collision-Free Car: The Effectiveness of Five Competing Forward Collision Avoidance Systems. [Masters Thesis]. Virginia Tech; 2013. Available from: http://hdl.handle.net/10919/24721

Stellenbosch University

16. Mphogo, Dinorego. Cooperative collision avoidance for unmanned aerial vehicles.

Degree: MEng, Electrical and Electronic Engineering, 2020, Stellenbosch University

URL: http://hdl.handle.net/10019.1/108293

►

ENGLISH ABSTRACT: This thesis presents the design, implementation, and verification of a cooperative collision avoidance algorithms for unmanned aerial vehicles (UAVs) in multi-aircraft conflict scenarios.… (more)

▼

ENGLISH ABSTRACT: This thesis presents the design, implementation, and verification of a cooperative collision avoidance algorithms for unmanned aerial vehicles (UAVs) in multi-aircraft conflict scenarios. Two types of collision avoidance algorithms are developed and verified in simulation: a rules-based algorithm and a cooperative path planning based algorithm. The rules-based collision avoidance algorithm is modelled after the tactical Traffic Collision Avoidance System (TCAS) that is used on commercial passenger airliners. To enable multi-aircraft collision avoidance, two methods for combining the pairwise rulesbased collision avoidance actions are proposed, namely Resolution Action Superposition (RAS) and pairwise Closest-Intruder-First (CIF). The path planning based collision avoidance algorithm grows a search tree of admissible conflict resolution paths, and searches the tree to find the conflict-free path with the lowest cost. To enable cooperative collision avoidance, all aircraft communicate their current positions and intended flight paths to all other aircraft. A token allocation strategy is used so that the individual aircraft plan their new collision avoidance paths sequentially according to a predetermined priority order. The rules-based and path planning based collision avoidance algorithms were implemented and verified in simulation. A simulation environment was created to test both the rules-based and path planning based collision avoidance algorithms. Set-piece conflict avoidance scenarios were performed to produce illustrative results. The simulations illustrated that both rules-based and path planning based collision avoidance can resolve both pairwise and multi-aircraft conflicts. Furthermore, Monte Carlo simulations were performed to produce statistical results and evaluate the performance of both algorithms in random conflict scenarios. The simulation results show that both the rules-based and path planning based solutions are able to successfully resolve collision scenarios involving multiple unmanned aerial vehicles. The rules-bases solution requires less computational effort but does not optimise the collision avoidance plans. The path planning based solution requires much more computational effort, but provides optimal solutions that minimises the deviation from the original flights, and minimises the control effort of the avoidance actions.

AFRIKAANSE OPSOMMING: Hierdie tesis beskryf die ontwerp, implementasie, en verifikasie van samewerkende botsingvermyding algoritmes vir onbemande vliegtuie (UAVs) in multi-vliegtuig konflik scenarios. Twee tipes botsingvermyding algoritmes word ontwikkel en getoets in simulasie: ’n reëls-gebaseerde algoritme en ’n padbeplanning-gebaseerde algoritme. Die reëls-gebaseerde algoritme word gemodelleer na die taktiese Traffic Collision Avoidance System (TCAS) wat gebruik word op kommersiële passasiersvliegtuie. Om multivliegtuig botsingvermyding te bewerkstellig, word twee metodes voorgestel om die paarsgewyse reëls-gebaseerde botsingvermyding…

Advisors/Committee Members: Engelbrecht, J. A. A., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

Subjects/Keywords: Traffic Collision Avoidance System; Drone aircraft – Collision avoidance; Unmanned aerial vehicles (UAV) – Safety measures; UCTD

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Mphogo, D. (2020). Cooperative collision avoidance for unmanned aerial vehicles. (Thesis). Stellenbosch University. Retrieved from http://hdl.handle.net/10019.1/108293

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mphogo, Dinorego. “Cooperative collision avoidance for unmanned aerial vehicles.” 2020. Thesis, Stellenbosch University. Accessed April 17, 2021. http://hdl.handle.net/10019.1/108293.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mphogo, Dinorego. “Cooperative collision avoidance for unmanned aerial vehicles.” 2020. Web. 17 Apr 2021.

Vancouver:

Mphogo D. Cooperative collision avoidance for unmanned aerial vehicles. [Internet] [Thesis]. Stellenbosch University; 2020. [cited 2021 Apr 17]. Available from: http://hdl.handle.net/10019.1/108293.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mphogo D. Cooperative collision avoidance for unmanned aerial vehicles. [Thesis]. Stellenbosch University; 2020. Available from: http://hdl.handle.net/10019.1/108293

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Michigan State University

17. Verma, Rajat (Graduate of Michigan State University). Evaluation of a rear-end collision avoidance system on winter maintenance trucks.

Degree: 2019, Michigan State University

URL: http://etd.lib.msu.edu/islandora/object/etd:48123

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Thesis M.S. Michigan State University. Civil Engineering 2019.

Roadway winter maintenance trucks, commonly referred to as snowplows, operate in hazardous traffic conditions and pose a… (more)

Subjects/Keywords: Snowplows – Collision avoidance systems – Design and construction; Snowplows – Collision avoidance systems – Michigan – Testing; Civil engineering

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Verma, R. (. o. M. S. U. (2019). Evaluation of a rear-end collision avoidance system on winter maintenance trucks. (Thesis). Michigan State University. Retrieved from http://etd.lib.msu.edu/islandora/object/etd:48123

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Verma, Rajat (Graduate of Michigan State University). “Evaluation of a rear-end collision avoidance system on winter maintenance trucks.” 2019. Thesis, Michigan State University. Accessed April 17, 2021. http://etd.lib.msu.edu/islandora/object/etd:48123.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Verma, Rajat (Graduate of Michigan State University). “Evaluation of a rear-end collision avoidance system on winter maintenance trucks.” 2019. Web. 17 Apr 2021.

Vancouver:

Verma R(oMSU. Evaluation of a rear-end collision avoidance system on winter maintenance trucks. [Internet] [Thesis]. Michigan State University; 2019. [cited 2021 Apr 17]. Available from: http://etd.lib.msu.edu/islandora/object/etd:48123.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Verma R(oMSU. Evaluation of a rear-end collision avoidance system on winter maintenance trucks. [Thesis]. Michigan State University; 2019. Available from: http://etd.lib.msu.edu/islandora/object/etd:48123

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

18. Lacharnay, Virgile. Modélisation mécanique intégrant des champs répulsifs pour la génération de trajectoires 5 axes hors collision : A potential field approach for collision avoidance in 5-axis milling.

Degree: Docteur es, Mécanique, génie mécanique, génie civil, 2014, Cachan, Ecole normale supérieure

URL: http://www.theses.fr/2014DENS0042

►

Le processus de réalisation des pièces de formes complexes par usinage est un processus essentiel dans les domaines de l'aéronautique, de l'automobile, des moules et… (more)

▼

Le processus de réalisation des pièces de formes complexes par usinage est un processus essentiel dans les domaines de l'aéronautique, de l'automobile, des moules et des matrices. Alors que l'usinage 5 axes grande vitesse est maintenant répandu dans les grands groupes industriels, il reste plusieurs problématiques à traiter. L'évitement de collisions le long de la trajectoire outil programmée en alors traité, notamment au niveau des interférences globales représentant une collision entre l'outil et son environnement. Classiquement, l'évitement de collisions dans le domaine de l'usinage 5 axes grande vitesse peut être programmé à l'aide d'une analyse géométrique de la situation. Si une collision est détecté, alors une phase de correction et d'optimisation peuvent être utilisée afin d'obtenir une nouvelle trajectoire hors collision. Le but des travaux est alors d'utiliser une modélisation physique afin d'obtenir une trajectoire corrigée hors collision le plus lisse possible. Pour ce faire le mouvement de l'outil est alors étudié d'un point de vue dynamique afin d'éviter les réorientation brutal post correction. De plus, les éléments constituants les obstacles émettent une action répulsive à distance. Cela permet, au cours de la programmation, d'anticiper l'approche d'un obstacle et ainsi d'entamer les corrections d'orientation outil en prévision d'une possible collision. Cette démarche de modélisation du mouvement étudiée permet alors de réaliser des simulations sur des pièces classiquement usinées dans les domaines énoncés précédemment. Dans le but de généraliser la programmation réalisée, il est alors important de comprendre comment les éléments obstacles sont représentés ainsi que la modélisation retenu pour l'outil utilisé au cours de la simulation. Enfin, la résolution de la dernière problématique mise en avant au cours de cette thèse concerne les temps de calcul obtenus. Il a été montré, après de multiples simulations, que ces derniers peuvent exploser d'un point de vue combinatoire pour des utilisateurs exigeants (modélisation fine de l'outil et de l'environnement). Une méthode de pré calcul est alors présentée utilisant la voxelisation permettant de diminuer les temps de calcul de manière très importante sans pour autant perdre de manière importante sur la solution obtenue. Le dernier objectif présenté est de proposer une approximation permettant de diminuer nettement les temps de calcul tout en conservant une assurance de non-collision. Cette méthode notée voxelisation consiste en utilisant une interpolation à diminuer le temps de calcul. L’important est alors de comprendre quels inconvénients se rattachent à la voxelisation et à partir de quand cette dernière apporte un résultat acceptable

Although 5-axis free form surfaces machining is commonly proposed in CAD/CAM software, several issues still need to be addressed and especially collision avoidance between the tool and the part. Indeed, advanced user skills are often required to define smooth tool axis orientations along the tool path in high speed…

Advisors/Committee Members: Tournier, Christophe (thesis director).

Subjects/Keywords: Trajectoire 5 axes; Évitement de collision; 5-axis miling; Collision avoidance

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Lacharnay, V. (2014). Modélisation mécanique intégrant des champs répulsifs pour la génération de trajectoires 5 axes hors collision : A potential field approach for collision avoidance in 5-axis milling. (Doctoral Dissertation). Cachan, Ecole normale supérieure. Retrieved from http://www.theses.fr/2014DENS0042

Chicago Manual of Style (16^th Edition):

Lacharnay, Virgile. “Modélisation mécanique intégrant des champs répulsifs pour la génération de trajectoires 5 axes hors collision : A potential field approach for collision avoidance in 5-axis milling.” 2014. Doctoral Dissertation, Cachan, Ecole normale supérieure. Accessed April 17, 2021. http://www.theses.fr/2014DENS0042.

MLA Handbook (7^th Edition):

Lacharnay, Virgile. “Modélisation mécanique intégrant des champs répulsifs pour la génération de trajectoires 5 axes hors collision : A potential field approach for collision avoidance in 5-axis milling.” 2014. Web. 17 Apr 2021.

Vancouver:

Lacharnay V. Modélisation mécanique intégrant des champs répulsifs pour la génération de trajectoires 5 axes hors collision : A potential field approach for collision avoidance in 5-axis milling. [Internet] [Doctoral dissertation]. Cachan, Ecole normale supérieure; 2014. [cited 2021 Apr 17]. Available from: http://www.theses.fr/2014DENS0042.

Council of Science Editors:

Lacharnay V. Modélisation mécanique intégrant des champs répulsifs pour la génération de trajectoires 5 axes hors collision : A potential field approach for collision avoidance in 5-axis milling. [Doctoral Dissertation]. Cachan, Ecole normale supérieure; 2014. Available from: http://www.theses.fr/2014DENS0042

Delft University of Technology

19. Kremer, Jeroen (author). Haptic Assistance is a Promising Method to Support Operators of a Hunting Simulator for Training Lions.

Degree: 2017, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:dfa1bce1-2b42-46a8-bb9b-b47943b9fbe1

►

At the Lion Foundation a hunting simulator is used to stimulate the hunting instincts and skills of lions and tigers, in order to improve their… (more)

▼

At the Lion Foundation a hunting simulator is used to stimulate the hunting instincts and skills of lions and tigers, in order to improve their health and increase chances of relocation into the wild. The hunting simulator is an animal enclosure wherein a piece of meat, used as prey, is moved by means of a joystick-controlled cable-driven system. The animal caretakers find it difficult to operate the hunting simulator effectively: the position of the prey relative to the hunting cat and enclosure is hard to judge. Evading the fast unpredictable cats requires high prey velocities without crashing into obstacles or enclosure walls. In this study it is hypothesized that providing the operators with haptic assistance through the joystick will help them to improve their performance, i.e. it will allow them to navigate the prey through the enclosure at higher velocities while having fewer collisions. Haptic assistance was designed as a force-stiffness feedback algorithm based on the inverse Time-to-Collision. It was implemented on a purposefully designed virtual hunting simulator operated through a force-feedback gaming joystick. Naive subjects (n=10) participated in an experiment in which they were asked to navigate the virtual prey through a series of waypoints, without hitting the boundaries of the virtual enclosure or the obstacles within it, both with and without the designed haptic assistance. Results show that haptic assistance leads to significant benefits for the operators, as they moved significantly faster while having significantly fewer collisions. In conclusion, the designed haptic assistance is beneficial when used in the virtual hunting simulator, and therefore constitutes a promising method that warrants implementation and evaluation in the real- world hunting simulator.

Mechanical Engineering | Biomechanical Design - BioRobotics

Advisors/Committee Members: Abbink, David (mentor), Schuurmans, J (mentor), Petermeijer, Bastiaan (graduation committee), Vrijdag, Arthur (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: Haptic Assistance; Collision Avoidance; Time-to-Collision; Haptic Joystick

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Kremer, J. (. (2017). Haptic Assistance is a Promising Method to Support Operators of a Hunting Simulator for Training Lions. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:dfa1bce1-2b42-46a8-bb9b-b47943b9fbe1

Chicago Manual of Style (16^th Edition):

Kremer, Jeroen (author). “Haptic Assistance is a Promising Method to Support Operators of a Hunting Simulator for Training Lions.” 2017. Masters Thesis, Delft University of Technology. Accessed April 17, 2021. http://resolver.tudelft.nl/uuid:dfa1bce1-2b42-46a8-bb9b-b47943b9fbe1.

MLA Handbook (7^th Edition):

Kremer, Jeroen (author). “Haptic Assistance is a Promising Method to Support Operators of a Hunting Simulator for Training Lions.” 2017. Web. 17 Apr 2021.

Vancouver:

Kremer J(. Haptic Assistance is a Promising Method to Support Operators of a Hunting Simulator for Training Lions. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Apr 17]. Available from: http://resolver.tudelft.nl/uuid:dfa1bce1-2b42-46a8-bb9b-b47943b9fbe1.

Council of Science Editors:

Kremer J(. Haptic Assistance is a Promising Method to Support Operators of a Hunting Simulator for Training Lions. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:dfa1bce1-2b42-46a8-bb9b-b47943b9fbe1

Indian Institute of Science

20. Manathara, Joel George. Collision Avoidance And Coalition Formation Of Multiple Unmanned Aerial Vechicles In High Density Traffic Environments.

Degree: PhD, Faculty of Engineering, 2014, Indian Institute of Science

URL: http://etd.iisc.ac.in/handle/2005/2360

► This thesis addresses the problems of collision avoidance and coalition formation of multiple UAVs in high density traffic environments, proposes simple and efficient algorithms as… (more)

▼ This thesis addresses the problems of collision avoidance and coalition formation of multiple UAVs in high density traffic environments, proposes simple and efficient algorithms as solutions, and discusses their applications in multiple UAV missions. First, the problem of collision avoidance among UAVs is considered and deconfliction algorithms are proposed. The efficacy of the proposed algorithms is tested using simulations involving random flights in high density traffic. Further, the proposed collision avoidance algorithms are implemented using realistic six degree of freedom UAV models. The studies in this thesis show that implementation of the proposed collision avoidance algorithms leads to a safer and efficient operational airspace occupied by multiple UAVs. Next, coalition formation in a search and prosecute mission involving a large number of UAVs and targets is considered. This problem is shown to be NP-hard and a sub-optimal but polynomial time coalition formation strategy is proposed. Simulations are carried out to show that this coalition formation algorithm works well. The coalition formation algorithm is then extended to handle situations where the UAVs have limited communication ranges. Finally, this thesis considers some multiple UAV missions that require the application of collision avoidance and coalition formation techniques. The problem of multiple UAV rendezvous is tackled by using (i) a consensus among the UAVs to attain rendezvous and (ii) the collision avoidance algorithm previously developed for safety. The thesis also considers a search and prosecute mission where the UAVs also have to avoid collisions among one another. In summary, the main contributions of this thesis include (a) novel collision avoidance algorithms, which are conceptually simple and easy to implement, for resolving path conflicts – both planar and three dimensional – in a high density traffic airspace with UAVs in free flight and (b) efficient coalition formation algorithms for search and prosecute task with large number of UAVs and targets where UAVs have limited communication ranges and targets are maneuvering. Simulations to evaluate the performance of algorithms based on these concepts to carry out realistic tasks by UAV swarms are also given. Advisors/Committee Members: Ghose, Debasish (advisor).

Subjects/Keywords: Unmanned Aerial vehicles - Collision Avoidance; Airplanes - Collision Avoidance; Air Traffic Control; Unmanned Aerial Vehicles - Coalition Formation; Airplane Collisions; Unmanned Aerial Vehicles - Collision Avoidance Algorithms; UAV Models; Coalition Formation; Astronautics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Manathara, J. G. (2014). Collision Avoidance And Coalition Formation Of Multiple Unmanned Aerial Vechicles In High Density Traffic Environments. (Doctoral Dissertation). Indian Institute of Science. Retrieved from http://etd.iisc.ac.in/handle/2005/2360

Chicago Manual of Style (16^th Edition):

Manathara, Joel George. “Collision Avoidance And Coalition Formation Of Multiple Unmanned Aerial Vechicles In High Density Traffic Environments.” 2014. Doctoral Dissertation, Indian Institute of Science. Accessed April 17, 2021. http://etd.iisc.ac.in/handle/2005/2360.

MLA Handbook (7^th Edition):

Manathara, Joel George. “Collision Avoidance And Coalition Formation Of Multiple Unmanned Aerial Vechicles In High Density Traffic Environments.” 2014. Web. 17 Apr 2021.

Vancouver:

Manathara JG. Collision Avoidance And Coalition Formation Of Multiple Unmanned Aerial Vechicles In High Density Traffic Environments. [Internet] [Doctoral dissertation]. Indian Institute of Science; 2014. [cited 2021 Apr 17]. Available from: http://etd.iisc.ac.in/handle/2005/2360.

Council of Science Editors:

Manathara JG. Collision Avoidance And Coalition Formation Of Multiple Unmanned Aerial Vechicles In High Density Traffic Environments. [Doctoral Dissertation]. Indian Institute of Science; 2014. Available from: http://etd.iisc.ac.in/handle/2005/2360

21. Bruneau, Julien. Studying and modeling complex interactions for crowd simulation : L'étude et la modélisation d'interactions complexes pour la simulation de foule.

Degree: Docteur es, Informatique, 2016, Rennes 1

URL: http://www.theses.fr/2016REN1S119

►

Le but de la thèse est d’améliorer les simulations de foule dans des situations complexes. Notamment, de comprendre comment les êtres humains naviguent en évitant… (more)

Subjects/Keywords: Simulation de foule; Évitement de collision; Comportement humain; Crowd simulation; Collision avoidance; Human behavior

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APA (6^th Edition):

Bruneau, J. (2016). Studying and modeling complex interactions for crowd simulation : L'étude et la modélisation d'interactions complexes pour la simulation de foule. (Doctoral Dissertation). Rennes 1. Retrieved from http://www.theses.fr/2016REN1S119

Chicago Manual of Style (16^th Edition):

Bruneau, Julien. “Studying and modeling complex interactions for crowd simulation : L'étude et la modélisation d'interactions complexes pour la simulation de foule.” 2016. Doctoral Dissertation, Rennes 1. Accessed April 17, 2021. http://www.theses.fr/2016REN1S119.

MLA Handbook (7^th Edition):

Bruneau, Julien. “Studying and modeling complex interactions for crowd simulation : L'étude et la modélisation d'interactions complexes pour la simulation de foule.” 2016. Web. 17 Apr 2021.

Vancouver:

Bruneau J. Studying and modeling complex interactions for crowd simulation : L'étude et la modélisation d'interactions complexes pour la simulation de foule. [Internet] [Doctoral dissertation]. Rennes 1; 2016. [cited 2021 Apr 17]. Available from: http://www.theses.fr/2016REN1S119.

Council of Science Editors:

Bruneau J. Studying and modeling complex interactions for crowd simulation : L'étude et la modélisation d'interactions complexes pour la simulation de foule. [Doctoral Dissertation]. Rennes 1; 2016. Available from: http://www.theses.fr/2016REN1S119

Carnegie Mellon University

22. Harper, Corey David. Transitioning to a Connected and Automated Vehicle Environment: Opportunities for Improving Transportation.

Degree: 2017, Carnegie Mellon University

URL: http://repository.cmu.edu/dissertations/1007

► Over the past few years automotive and technology companies have made significant advances in what has been traditionally a completely human function: driving. Crash avoidance… (more)

▼ Over the past few years automotive and technology companies have made significant advances in what has been traditionally a completely human function: driving. Crash avoidance features such as lane departure warning and forward collision warning are becoming increasingly more common and cheaper to obtain, even on non-luxury vehicles. Technology companies and auto manufacturers have announced plans to have self-driving vehicles ready for public use as early as 2020. The mass adoption of automated vehicles (AVs) could significantly change surface transportation as we know it today. This thesis is intended to provide a technical analysis of the potential impacts of AVs on current light-duty vehicle miles traveled (VMT) and parking decisions, the economic desirability of widespread deployment of partially automated technologies, and methods for existing roadways to transition to connected and automated vehicle (CAV) transportation, so that policymakers can make more informed decisions during the transition to CAVs. This work takes a look at AVs from a point in time where vehicles are equipped with driver assistance systems (Level 1) to a point in time where AVs are driverless (Level 5) and can self-park. The results of this work indicate that the fleet-wide adoption of partially automated crash avoidance technologies could provide net-benefit of about 4 billion at current system effectiveness and could provide an annual net-benefit up to 202 billion if all relevant crashes could be prevented. About 25% of all crashes could be addressed by the crash avoidance technologies examined in this dissertation. Over time, as technologies become more effective and cheaper due to economies of scale, greater benefits than the 4 billion could be realized. As automated technologies become more advanced and widespread, existing roadways will need to be able to accommodate these vehicles. This work investigates the effects of a dedicated truck platoon lane on congestion on the Pennsylvania Turnpike and provides a method for existing roadways and highways to determine viable platoon demonstration sites. The initial results suggest that there are several sections of turnpike that could serve as commercial truck platoon demonstration site while still providing a high LOS to all other vehicles. Once AVs can safely and legally drive unoccupied, vehicles will no longer be limited to their driver’s destination and can search for cheaper parking in more distant parking locations. This work simulates a fleet of privately owned vehicles (POVs) in search of cheaper parking in Seattle, using a rectangular grid throughout the study area. Model results indicate that we are not likely to see significant increase in vehicle miles traveled (VMT) and energy use from cars moving from downtown parking lots to cheaper parking in distance locations but at higher penetration rates, parking lot revenues could likely decline to the point where operating a lot is unsustainable economically, if no parking demand management policies are implemented. Driverless…

Subjects/Keywords: Automated Vehicles; Collision avoidance technologies; Connected Vehicles; Elderly Travel; Parking; Transportation

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APA (6^th Edition):

Harper, C. D. (2017). Transitioning to a Connected and Automated Vehicle Environment: Opportunities for Improving Transportation. (Thesis). Carnegie Mellon University. Retrieved from http://repository.cmu.edu/dissertations/1007

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Harper, Corey David. “Transitioning to a Connected and Automated Vehicle Environment: Opportunities for Improving Transportation.” 2017. Thesis, Carnegie Mellon University. Accessed April 17, 2021. http://repository.cmu.edu/dissertations/1007.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Harper, Corey David. “Transitioning to a Connected and Automated Vehicle Environment: Opportunities for Improving Transportation.” 2017. Web. 17 Apr 2021.

Vancouver:

Harper CD. Transitioning to a Connected and Automated Vehicle Environment: Opportunities for Improving Transportation. [Internet] [Thesis]. Carnegie Mellon University; 2017. [cited 2021 Apr 17]. Available from: http://repository.cmu.edu/dissertations/1007.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Harper CD. Transitioning to a Connected and Automated Vehicle Environment: Opportunities for Improving Transportation. [Thesis]. Carnegie Mellon University; 2017. Available from: http://repository.cmu.edu/dissertations/1007

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

UCLA

23. Tung, Lung-Chih. Using Heterogeneous Networks for Intersection Collision Avoidance.

Degree: Computer Science, 2014, UCLA

URL: http://www.escholarship.org/uc/item/0b6519n3

► Vehicular Ad-Hoc Network (VANET) is one of the most active research areas in ad hoc networks. In VANETs, each vehicle is equipped with wireless device… (more)

▼ Vehicular Ad-Hoc Network (VANET) is one of the most active research areas in ad hoc networks. In VANETs, each vehicle is equipped with wireless device so that it can communicate with other vehicles. With this capability, new applications targeting safety, entertainment, and better driving experience can be developed.The most urgent applications that arise much attention are the vehicular safety applications. Most safety applications can be achieved by exchanging small data packets called beacons. Beacons contain the position information of vehicles. By analyzing the position information, a warning can be issued when a potential collision is identified. However, some applications require warning messages to be disseminated multiple hops away, so a multiple hop data dissemination protocol is needed in these cases. To disseminate data efficiently, directional broadcast was proposed. The key idea is to select one relay node in each selected directions so that data can be propagated to all vehicles. However, it causes misclassification problem which results in inefficient and unreliable data propagation.For intersection collision avoidance, new concerns need to be taken care of. In urban area, the wireless communication can be blocked by buildings around the corner. Previous research shows that the line-of-sight condition in urban area is not good enough for identifying potential collisions within sufficient time before impact. Therefore, a road side unit installed in the center of an intersection is necessary in order to rebroadcast beacons to vehicles around the intersection. This incurs additional cost of the deployment of VANET infrastructure.The first part of this thesis explores the details of directional broadcast in terms of performance, and proposes a novel map-based directional broadcast protocol. We also incorporate a retransmission mechanism if transmission is regarded as failed to overcome the unreliable wireless communication. Store-carry-forward approach is used to increase the delivery ratio and efficiency. Moreover, we propose a solution to improve the safety of bicyclists using camera and DSRC. Simulations show that the map-based relay selection protocol can select relay nodes efficiently, and the retransmission combined with store-carry-forward approach increases delivery ratio significantly.For intersection collision avoidance, the original plan of connected vehicle project includes the deployment of massive number of road-side units at intersections. Due to the cost, the deployment of road-side units has been indefinitely postponed. Without road-side units, data cannot be propagated well at intersections in urban area because the line-of-sight transmission could be blocked by buildings around the corner. Aiming on this, LTE has been proposed as an alternative to overcome this problem. We analyze and evaluate the possibility of using LTE for intersection collision avoidance service. Based on our study, LTE should be able to provide satisfactory delay and bandwidth for limited number of users. In order…

Subjects/Keywords: Computer science; broadcast; Intersection Collision Avoidance; LTE; VANET

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Tung, L. (2014). Using Heterogeneous Networks for Intersection Collision Avoidance. (Thesis). UCLA. Retrieved from http://www.escholarship.org/uc/item/0b6519n3

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Tung, Lung-Chih. “Using Heterogeneous Networks for Intersection Collision Avoidance.” 2014. Thesis, UCLA. Accessed April 17, 2021. http://www.escholarship.org/uc/item/0b6519n3.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Tung, Lung-Chih. “Using Heterogeneous Networks for Intersection Collision Avoidance.” 2014. Web. 17 Apr 2021.

Vancouver:

Tung L. Using Heterogeneous Networks for Intersection Collision Avoidance. [Internet] [Thesis]. UCLA; 2014. [cited 2021 Apr 17]. Available from: http://www.escholarship.org/uc/item/0b6519n3.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tung L. Using Heterogeneous Networks for Intersection Collision Avoidance. [Thesis]. UCLA; 2014. Available from: http://www.escholarship.org/uc/item/0b6519n3

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Mississippi State University

24. Davenport, Collin Stewart. Dynamic modeling framework to predict instantaneous status of a tractor-dolly system.

Degree: MS, Mechanical Engineering, 2017, Mississippi State University

URL: http://sun.library.msstate.edu/ETD-db/theses/available/etd-03202017-171310/ ;

► A dynamic modeling framework was established to predict the position and alignment (turning angle) of a tractor-dolly towing system receiving different driver inputs. This… (more)

Subjects/Keywords: collision avoidance; polygon model; trailer; tractor; multiple vehicles

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APA (6^th Edition):

Davenport, C. S. (2017). Dynamic modeling framework to predict instantaneous status of a tractor-dolly system. (Masters Thesis). Mississippi State University. Retrieved from http://sun.library.msstate.edu/ETD-db/theses/available/etd-03202017-171310/ ;

Chicago Manual of Style (16^th Edition):

Davenport, Collin Stewart. “Dynamic modeling framework to predict instantaneous status of a tractor-dolly system.” 2017. Masters Thesis, Mississippi State University. Accessed April 17, 2021. http://sun.library.msstate.edu/ETD-db/theses/available/etd-03202017-171310/ ;.

MLA Handbook (7^th Edition):

Davenport, Collin Stewart. “Dynamic modeling framework to predict instantaneous status of a tractor-dolly system.” 2017. Web. 17 Apr 2021.

Vancouver:

Davenport CS. Dynamic modeling framework to predict instantaneous status of a tractor-dolly system. [Internet] [Masters thesis]. Mississippi State University; 2017. [cited 2021 Apr 17]. Available from: http://sun.library.msstate.edu/ETD-db/theses/available/etd-03202017-171310/ ;.

Council of Science Editors:

Davenport CS. Dynamic modeling framework to predict instantaneous status of a tractor-dolly system. [Masters Thesis]. Mississippi State University; 2017. Available from: http://sun.library.msstate.edu/ETD-db/theses/available/etd-03202017-171310/ ;

Mississippi State University

25. Hegman, Andrew. A real-time predictive vehicular collision avoidance system on an embedded general-purpose GPU.

Degree: MS, Electrical and Computer Engineering, 2018, Mississippi State University

URL: http://sun.library.msstate.edu/ETD-db/theses/available/etd-06252018-093900/ ;

► Collision avoidance is an essential capability for autonomous and assisted-driving ground vehicles. In this work, we developed a novel model predictive control based intelligent… (more)

Subjects/Keywords: Model Predictive Control; MPC; Collision Avoidance; GPGPU; GPU

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APA (6^th Edition):

Hegman, A. (2018). A real-time predictive vehicular collision avoidance system on an embedded general-purpose GPU. (Masters Thesis). Mississippi State University. Retrieved from http://sun.library.msstate.edu/ETD-db/theses/available/etd-06252018-093900/ ;

Chicago Manual of Style (16^th Edition):

Hegman, Andrew. “A real-time predictive vehicular collision avoidance system on an embedded general-purpose GPU.” 2018. Masters Thesis, Mississippi State University. Accessed April 17, 2021. http://sun.library.msstate.edu/ETD-db/theses/available/etd-06252018-093900/ ;.

MLA Handbook (7^th Edition):

Hegman, Andrew. “A real-time predictive vehicular collision avoidance system on an embedded general-purpose GPU.” 2018. Web. 17 Apr 2021.

Vancouver:

Hegman A. A real-time predictive vehicular collision avoidance system on an embedded general-purpose GPU. [Internet] [Masters thesis]. Mississippi State University; 2018. [cited 2021 Apr 17]. Available from: http://sun.library.msstate.edu/ETD-db/theses/available/etd-06252018-093900/ ;.

Council of Science Editors:

Hegman A. A real-time predictive vehicular collision avoidance system on an embedded general-purpose GPU. [Masters Thesis]. Mississippi State University; 2018. Available from: http://sun.library.msstate.edu/ETD-db/theses/available/etd-06252018-093900/ ;

University of Utah

26. Israelsen, Jason R. Automatic collision avoidance for manually tele-operated unmanned aerial vehicles.

Degree: MS, Mechanical Engineering, 2014, University of Utah

URL: http://content.lib.utah.edu/cdm/singleitem/collection/etd3/id/3104/rec/322

► This thesis provides details on the development of automatic collision avoidance for manually tele-operated unmanned aerial vehicles. We note that large portions of this work… (more)

Subjects/Keywords: Collision avoidance; Reactive and sensor-based planning; Teleoperation

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APA (6^th Edition):

Israelsen, J. R. (2014). Automatic collision avoidance for manually tele-operated unmanned aerial vehicles. (Masters Thesis). University of Utah. Retrieved from http://content.lib.utah.edu/cdm/singleitem/collection/etd3/id/3104/rec/322

Chicago Manual of Style (16^th Edition):

Israelsen, Jason R. “Automatic collision avoidance for manually tele-operated unmanned aerial vehicles.” 2014. Masters Thesis, University of Utah. Accessed April 17, 2021. http://content.lib.utah.edu/cdm/singleitem/collection/etd3/id/3104/rec/322.

MLA Handbook (7^th Edition):

Israelsen, Jason R. “Automatic collision avoidance for manually tele-operated unmanned aerial vehicles.” 2014. Web. 17 Apr 2021.

Vancouver:

Israelsen JR. Automatic collision avoidance for manually tele-operated unmanned aerial vehicles. [Internet] [Masters thesis]. University of Utah; 2014. [cited 2021 Apr 17]. Available from: http://content.lib.utah.edu/cdm/singleitem/collection/etd3/id/3104/rec/322.

Council of Science Editors:

Israelsen JR. Automatic collision avoidance for manually tele-operated unmanned aerial vehicles. [Masters Thesis]. University of Utah; 2014. Available from: http://content.lib.utah.edu/cdm/singleitem/collection/etd3/id/3104/rec/322

Durban University of Technology

27. Mwangi, Maina Festus. Development of granular-medium-based energy management system for automotive bumper applications.

Degree: 2009, Durban University of Technology

URL: http://hdl.handle.net/10321/589

►

Thesis submitted in compliance with the requirements of the Master's Degree in Technology: Mechanical Engineering, Durban University of Technology, 2009.

Automotive bumpers are installed primarily… (more)

Subjects/Keywords: Automobiles – Bumpers – Design and construction; Automobiles – Collision avoidance systems; Automobiles – Materials

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APA (6^th Edition):

Mwangi, M. F. (2009). Development of granular-medium-based energy management system for automotive bumper applications. (Thesis). Durban University of Technology. Retrieved from http://hdl.handle.net/10321/589

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mwangi, Maina Festus. “Development of granular-medium-based energy management system for automotive bumper applications.” 2009. Thesis, Durban University of Technology. Accessed April 17, 2021. http://hdl.handle.net/10321/589.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mwangi, Maina Festus. “Development of granular-medium-based energy management system for automotive bumper applications.” 2009. Web. 17 Apr 2021.

Vancouver:

Mwangi MF. Development of granular-medium-based energy management system for automotive bumper applications. [Internet] [Thesis]. Durban University of Technology; 2009. [cited 2021 Apr 17]. Available from: http://hdl.handle.net/10321/589.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mwangi MF. Development of granular-medium-based energy management system for automotive bumper applications. [Thesis]. Durban University of Technology; 2009. Available from: http://hdl.handle.net/10321/589

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Stellenbosch University

28. Okoloko, Innocent. Multi-path planning and multi-body constrained attitude control.

Degree: PhD, Mechanical and Mechatronic Engineering, 2012, Stellenbosch University

URL: http://hdl.handle.net/10019.1/71905

►

ENGLISH ABSTRACT: This research focuses on the development of new efficient algorithms for multi-path planning and multi-rigid body constrained attitude control. The work is motivated… (more)

▼

ENGLISH ABSTRACT: This research focuses on the development of new efficient algorithms for multi-path planning and multi-rigid body constrained attitude control. The work is motivated by current and future applications of these algorithms in: intelligent control of multiple autonomous aircraft and spacecraft systems; control of multiple mobile and industrial robot systems; control of intelligent highway vehicles and traffic; and air and sea traffic control. We shall collectively refer to the class of mobile autonomous systems as “agents”. One of the challenges in developing and applying such algorithms is that of complexity resulting from the nontrivial agent dynamics as agents interact with other agents, and their environment. In this work, some of the current approaches are studied with the intent of exposing the complexity issues associated them, and new algorithms with reduced computational complexity are developed, which can cope with interaction constraints and yet maintain stability and efficiency. To this end, this thesis contributes the following new developments to the field of multipath planning and multi-body constrained attitude control: • The introduction of a new LMI-based approach to collision avoidance in 2D and 3D spaces. • The introduction of a consensus theory of quaternions by applying quaternions directly with the consensus protocol for the first time. • A consensus and optimization based path planning algorithm for multiple autonomous vehicle systems navigating in 2D and 3D spaces. • A proof of the consensus protocol as a dynamic system with a stochastic plant matrix. • A consensus and optimization based algorithm for constrained attitude synchronization of multiple rigid bodies. • A consensus and optimization based algorithm for collective motion on a sphere.

AFRIKAANSE OPSOMMING: Hierdie navorsing fokus op die ontwikkeling van nuwe koste-effektiewe algoritmes, vir multipad-beplanning en veelvuldige starre-liggaam beperkte standbeheer. Die werk is gemotiveer deur huidige en toekomstige toepassing van hierdie algoritmes in: intelligente beheer van veelvuldige outonome vliegtuig- en ruimtevaartuigstelsels; beheer van veelvuldige mobiele en industrile robotstelsels; beheer van intelligente hoofwegvoertuie en verkeer; en in lug- en see-verkeersbeheer. Ons sal hier “agente” gebruik om gesamentlik te verwys na die klas van mobiele outonome stelsels. Een van die uitdagings in die ontwikkeling en toepassing van sulke algoritmes is die kompleksiteit wat spruit uit die nie-triviale agentdinamika as gevolg van die interaksie tussen agente onderling, en tussen agente en hul omgewing. In hierdie werk word sommige huidige benaderings bestudeer met die doel om die kompleksiteitskwessies wat met hulle geassosieer word, bloot te l^e. Verder word nuwe algoritmes met verminderde berekeningskompleksiteit ontwikkel. Hierdie algoritmes kan interaksie-beperkings hanteer, en tog stabiliteit en doeltreffendheid behou. Vir hierdie doel dra die proefskrif die volgende nuwe…

Advisors/Committee Members: Basson, A. H., Kim, Y., Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering..

Subjects/Keywords: Mechatronic engineering; Attitude control; Unmanned vehicles – Collision avoidance; Mobile autonomous systems

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APA (6^th Edition):

Okoloko, I. (2012). Multi-path planning and multi-body constrained attitude control. (Doctoral Dissertation). Stellenbosch University. Retrieved from http://hdl.handle.net/10019.1/71905

Chicago Manual of Style (16^th Edition):

Okoloko, Innocent. “Multi-path planning and multi-body constrained attitude control.” 2012. Doctoral Dissertation, Stellenbosch University. Accessed April 17, 2021. http://hdl.handle.net/10019.1/71905.

MLA Handbook (7^th Edition):

Okoloko, Innocent. “Multi-path planning and multi-body constrained attitude control.” 2012. Web. 17 Apr 2021.

Vancouver:

Okoloko I. Multi-path planning and multi-body constrained attitude control. [Internet] [Doctoral dissertation]. Stellenbosch University; 2012. [cited 2021 Apr 17]. Available from: http://hdl.handle.net/10019.1/71905.

Council of Science Editors:

Okoloko I. Multi-path planning and multi-body constrained attitude control. [Doctoral Dissertation]. Stellenbosch University; 2012. Available from: http://hdl.handle.net/10019.1/71905

Penn State University

29. Stankiewicz, Paul Geoffrey. Vehicle Control for Collision Avoidance and Rollover Prevention using the Zero-moment Point.

Degree: 2015, Penn State University

URL: https://submit-etda.libraries.psu.edu/catalog/24790

► This thesis investigates vehicle control techniques for rollover prevention in a collision avoidance scenario. The zero-moment point (ZMP) is used to evaluate the vehicle's current… (more)

Subjects/Keywords: vehicle rollover; predictive control; collision avoidance; zero-moment point

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APA (6^th Edition):

Stankiewicz, P. G. (2015). Vehicle Control for Collision Avoidance and Rollover Prevention using the Zero-moment Point. (Thesis). Penn State University. Retrieved from https://submit-etda.libraries.psu.edu/catalog/24790

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Stankiewicz, Paul Geoffrey. “Vehicle Control for Collision Avoidance and Rollover Prevention using the Zero-moment Point.” 2015. Thesis, Penn State University. Accessed April 17, 2021. https://submit-etda.libraries.psu.edu/catalog/24790.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Stankiewicz, Paul Geoffrey. “Vehicle Control for Collision Avoidance and Rollover Prevention using the Zero-moment Point.” 2015. Web. 17 Apr 2021.

Vancouver:

Stankiewicz PG. Vehicle Control for Collision Avoidance and Rollover Prevention using the Zero-moment Point. [Internet] [Thesis]. Penn State University; 2015. [cited 2021 Apr 17]. Available from: https://submit-etda.libraries.psu.edu/catalog/24790.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Stankiewicz PG. Vehicle Control for Collision Avoidance and Rollover Prevention using the Zero-moment Point. [Thesis]. Penn State University; 2015. Available from: https://submit-etda.libraries.psu.edu/catalog/24790

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Penn State University

30. Reiter, Jason A. Numerical And Analytical Solutions To Rapid Collision Avoidance Maneuvers Constrained By Mission Performance Requirements.

Degree: 2016, Penn State University

URL: https://submit-etda.libraries.psu.edu/catalog/29469

► Collision avoidance maneuvers to prevent orbital collisions between two catalogued objects are typically planned multiple days in advance. If the warning time is decreased to… (more)

▼ Collision avoidance maneuvers to prevent orbital collisions between two catalogued objects are typically planned multiple days in advance. If the warning time is decreased to less than half-an-orbit in advance, the problem becomes more complex. Typically, the maneuver (assumed to be impulsive) would be placed at perigee or apogee and oriented in the direction that allows for a fuel-optimal maneuver to be performed well before the predicted collision. Instead, for rapid collision avoidance scenarios, finite burn propagation was applied to determine the thrust duration and direction required to reach a desired minimum collision probability. Determining the thrust time and direction for a wide range of orbits and spacecraft properties results in a semi-analytical solution to the collision avoidance problem anywhere in Low-Earth Orbit. The speed at which this method can be applied makes it valuable when minimal time is available to perform such a maneuver. For many spacecraft missions, even the slightest change in the orbit of the spacecraft may significantly affect its ability to perform to its required specifications. With the high volume of debris in orbit, debris-creating events could occur with no advanced notice, making rapid collision avoidance scenarios a real possibility. Care must be taken to ensure that any potential collision is avoided while minimizing the effect of the maneuver on the spacecraft’s mission performance. Assuming perfect knowledge of the states of all objects and that the possible collisions occur at high relative velocities, the required thrusting time to achieve a desired collision probability is found. Varying the desired collision probability, the resulting changes in the required thrust duration time (and, thus, fuel use) can be observed, providing options for trading the fuel use and likelihood of a collision. Additionally, both of these variables contribute directly to the ability of the spacecraft to perform to the desired mission specifications. As the collision probability threshold and required burn time increase, the mission performance decreases. The level of robustness necessary in the mission specifications can be used to limit the desired collision probability threshold. This is accomplished by determining the time and fuel required to perform the collision avoidance maneuver to the desired probability level and analyzing the effect of the time spent away from the mission orbit and the quantity of fuel required to perform the maneuver on the mission performance. It was found that, for notification times less than around 20 minutes, it is best to decrease the collision probability as much as the available fuel will allow without regard for the time duration of the maneuver. As the notification time increases past 20 minutes, more emphasis can be placed on the time required to perform the entire maneuver and it was found that simultaneously minimizing the maneuver time and collision probability outweighed the slight extra fuel required for such a maneuver. Such analysis would… Advisors/Committee Members: David Spencer, Thesis Advisor/Co-Advisor.

Subjects/Keywords: astrodynamics; collision avoidance; debris; trade studies; optimization; trajectory; mission design

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APA (6^th Edition):

Reiter, J. A. (2016). Numerical And Analytical Solutions To Rapid Collision Avoidance Maneuvers Constrained By Mission Performance Requirements. (Thesis). Penn State University. Retrieved from https://submit-etda.libraries.psu.edu/catalog/29469

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Reiter, Jason A. “Numerical And Analytical Solutions To Rapid Collision Avoidance Maneuvers Constrained By Mission Performance Requirements.” 2016. Thesis, Penn State University. Accessed April 17, 2021. https://submit-etda.libraries.psu.edu/catalog/29469.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Reiter, Jason A. “Numerical And Analytical Solutions To Rapid Collision Avoidance Maneuvers Constrained By Mission Performance Requirements.” 2016. Web. 17 Apr 2021.

Vancouver:

Reiter JA. Numerical And Analytical Solutions To Rapid Collision Avoidance Maneuvers Constrained By Mission Performance Requirements. [Internet] [Thesis]. Penn State University; 2016. [cited 2021 Apr 17]. Available from: https://submit-etda.libraries.psu.edu/catalog/29469.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Reiter JA. Numerical And Analytical Solutions To Rapid Collision Avoidance Maneuvers Constrained By Mission Performance Requirements. [Thesis]. Penn State University; 2016. Available from: https://submit-etda.libraries.psu.edu/catalog/29469

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Open Access Theses and Dissertations